Merge pull request #1 from LorenzMeier/master

Update for master
PX4 · Jan 1, 2014 · 70153ac · 70153ac
2 parents 31f808d + 5b302fe
commit 70153ac
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Showing 25 changed files with 275 additions and 367 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/15_tbs_discovery → .../px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/15_tbs_discovery → .../px4fmu_common/init.d/10015_tbs_discovery
@@ -32,8 +32,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -74,8 +72,3 @@ pwm max -c 1234 -p 1900
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris → ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris → ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -32,8 +32,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -73,8 +71,3 @@ pwm min -c 1234 -p 1050
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar → ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar → ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@@ -42,8 +42,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -80,8 +78,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler → ROMFS/px4fmu_common/init.d/2101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler → ROMFS/px4fmu_common/init.d/2101_hk_bixler
@@ -42,8 +42,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -80,8 +78,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/102_3dr_skywalker → ...S/px4fmu_common/init.d/2102_3dr_skywalker b/ROMFS/px4fmu_common/init.d/102_3dr_skywalker → ...S/px4fmu_common/init.d/2102_3dr_skywalker
@@ -42,8 +42,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -82,8 +80,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/30_io_camflyer → ROMFS/px4fmu_common/init.d/3030_io_camflyer b/ROMFS/px4fmu_common/init.d/30_io_camflyer → ROMFS/px4fmu_common/init.d/3030_io_camflyer
@@ -20,8 +20,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -58,8 +56,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom → ROMFS/px4fmu_common/init.d/3031_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom → ROMFS/px4fmu_common/init.d/3031_io_phantom
@@ -47,8 +47,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -85,8 +83,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/32_skywalker_x5 → ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/32_skywalker_x5 → ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -20,8 +20,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -58,8 +56,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing → ROMFS/px4fmu_common/init.d/3033_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing → ROMFS/px4fmu_common/init.d/3033_io_wingwing
@@ -46,8 +46,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -84,8 +82,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-   exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 → ROMFS/px4fmu_common/init.d/3034_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79 → ROMFS/px4fmu_common/init.d/3034_io_fx79
@@ -46,8 +46,6 @@ fi
 #
 param set MAV_TYPE 1
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -84,8 +82,3 @@ fi
 # Start common fixedwing apps
 #
 sh /etc/init.d/rc.fixedwing
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/08_ardrone → ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/08_ardrone → ROMFS/px4fmu_common/init.d/4008_ardrone
diff --git a/ROMFS/px4fmu_common/init.d/09_ardrone_flow → ROMFS/px4fmu_common/init.d/4009_ardrone_flow b/ROMFS/px4fmu_common/init.d/09_ardrone_flow → ROMFS/px4fmu_common/init.d/4009_ardrone_flow
@@ -54,11 +54,6 @@ ardrone_interface start -d /dev/ttyS1
 #
 sh /etc/init.d/rc.sensors
 
-#
-# Start the commander.
-#
-commander start
-
 #
 # Start the attitude estimator
 #

diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 → ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330 → ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -41,14 +41,6 @@ then
 
 	param save
 fi
-
-#
-# Force some key parameters to sane values
-# MAV_TYPE     2 = quadrotor
-#
-param set MAV_TYPE 2
-
-set EXIT_ON_END no
 
 #
 # Start and configure PX4IO or FMU interface
@@ -69,29 +61,9 @@ else
 	set EXIT_ON_END yes
 fi
 
-#
-# Load mixer
-#
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
-
-#
-# Set PWM output frequency
-#
-pwm rate -c 1234 -r 400
-
-#
-# Set disarmed, min and max PWM signals (for DJI ESCs)
-#
-pwm disarmed -c 1234 -p 900
-pwm min -c 1234 -p 1200
-pwm max -c 1234 -p 1800
+sh /etc/init.d/rc.mc_interface
 
 #
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/11_dji_f450 → ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/11_dji_f450 → ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -32,8 +32,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -43,8 +41,6 @@ then
 	mavlink start
 	usleep 5000
 
-	commander start
-
 	sh /etc/init.d/rc.io
 else
 	# Start MAVLink (on UART1 / ttyS0)
@@ -76,8 +72,3 @@ pwm max -c 1234 -p 1800
 # Start common multirotor apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/40_io_segway b/ROMFS/px4fmu_common/init.d/40_io_segway
@@ -28,11 +28,6 @@ usleep 5000
 # Start and configure PX4IO interface
 #
 sh /etc/init.d/rc.io
-
-#
-# Start the commander (depends on orb, mavlink)
-#
-commander start
 
 #
 # Start the sensors (depends on orb, px4io)

diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_q_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_q_x550
@@ -34,8 +34,6 @@ fi
 #
 param set MAV_TYPE 2
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -76,8 +74,3 @@ pwm max -c 1234 -p 1900
 # Start common for all multirotors apps
 #
 sh /etc/init.d/rc.multirotor
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/800_sdlogger b/ROMFS/px4fmu_common/init.d/800_sdlogger
@@ -13,8 +13,6 @@ then
 	param save
 fi
 
-set EXIT_ON_END no
-
 #
 # Start and configure PX4IO or FMU interface
 #
@@ -24,8 +22,6 @@ then
 	mavlink start
 	usleep 5000
 
-	commander start
-
 	sh /etc/init.d/rc.io
 	# Set PWM values for DJI ESCs
 else
@@ -53,8 +49,3 @@ then
 		sdlog2 start -r 200 -e -b 16
 	fi
 fi
-
-if [ $EXIT_ON_END == yes ]
-then
-	exit
-fi
diff --git a/ROMFS/px4fmu_common/init.d/12-13_hex → ROMFS/px4fmu_common/init.d/rc.hexa b/ROMFS/px4fmu_common/init.d/12-13_hex → ROMFS/px4fmu_common/init.d/rc.hexa
@@ -52,7 +52,7 @@ param set MAV_TYPE 13
 set EXIT_ON_END no
 
 #
-# Start and configure PX4IO or FMU interface
+# Start and configure PX4IO interface
 #
 if px4io detect
 then
@@ -62,18 +62,14 @@ then
 
 	sh /etc/init.d/rc.io
 else
-	# Start MAVLink (on UART1 / ttyS0)
-	mavlink start -d /dev/ttyS0
-	usleep 5000
-	fmu mode_pwm
-	param set BAT_V_SCALING 0.004593
-	set EXIT_ON_END yes
+	# This is not possible on a hexa
+	tone_alarm error
 fi
 
 #
 # Load mixer
 #
-mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
+mixer load /dev/pwm_output $MIXER
 
 #
 # Set PWM output frequency to 400 Hz